A vehicle imaging system includes an imaging device that images at least a part of an area around a vehicle; and a visible light attenuation device that attenuates part of visible light that enters the imaging device. The imaging device includes an imaging element that converts both of the infrared light and an infrared ray to electric signals. The imaging device outputs both of image data produced based on the electric signal to which the visible light, which has entered the imaging device without passing through the visible light attenuation device, has been converted, and image data produced based on the electric signal to which the infrared ray, which has passed through the visible light attenuation device, has been converted.